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It will lso depend a bit on the year. I believe the Explorers have morphed some over the years while the Rangers of 2006 are pretty much the same as they were in 1993, 94, 95, 96 (whenever they changed to the current style.
USed to be that Explorers had rear disc brakes and Rangers had rear drum brakes. Explorers had torsion bar front ends and Rangers had something else. Engines, transmissions and for a while at least, many of the intereior components and panels were exactly the same.
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
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